EP3106423A1 - Systeme und verfahren zur gewichtsermittlung und rückkopplungs-drehzahlregelung - Google Patents

Systeme und verfahren zur gewichtsermittlung und rückkopplungs-drehzahlregelung Download PDF

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Publication number
EP3106423A1
EP3106423A1 EP16174889.2A EP16174889A EP3106423A1 EP 3106423 A1 EP3106423 A1 EP 3106423A1 EP 16174889 A EP16174889 A EP 16174889A EP 3106423 A1 EP3106423 A1 EP 3106423A1
Authority
EP
European Patent Office
Prior art keywords
data
material handling
handling vehicle
sensors
real time
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP16174889.2A
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English (en)
French (fr)
Inventor
Daniel Robert Driscall
Robert Walter GREENE
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Raymond Corp
Original Assignee
Raymond Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Raymond Corp filed Critical Raymond Corp
Publication of EP3106423A1 publication Critical patent/EP3106423A1/de
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to, or preventing, skidding of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B60W40/13—Load or weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
    • B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
    • B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
    • B62B3/06—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment for simply clearing the load from the ground
    • B62B3/0612—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment for simply clearing the load from the ground power operated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/66—Governor units providing for co-operation with control dependent upon a variable other than speed
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/008—Registering or indicating the working of vehicles communicating information to a remotely located station
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/02—Registering or indicating driving, working, idle, or waiting time only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/12—Trucks; Load vehicles
    • B60W2300/121—Fork lift trucks, Clarks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

Definitions

  • the present invention relates to material handling vehicles. More particularly, the invention relates to systems and methods for determining a load weight and to controlling the speed of a material handling vehicle using closed loop control.
  • Material handling vehicles are commonly found in warehouses, factories, shipping yards, and, generally, wherever pallets, large packages, or loads of goods are required to be transported from place to place. Material handling vehicles typically include load bearing forks for lifting packages or pallets for transporting, a drive motor for propelling the truck, a steering control mechanism, and a brake.
  • Material handling vehicles often transport various materials of varying weights. This weight can have a significant impact on the operation of the material handling vehicle due to the additional load placed on the material handling vehicle. For example, heavier objects can require more power to operate the material handling vehicle.
  • the elevation of the load in combination with the weight, can affect the operation of the vehicle. This can include stability where the load may be elevated above a predetermined level for the given weight.
  • strain gauges can be installed on material handling portions of the material handling vehicles, such as the forks on a fork or pallet truck. The strain gauges can measure the weight placed on the load carrying portions of the material handling vehicles.
  • various proximity sensors can be installed on a material handling vehicle to detect parameters associated with transporting a load, such as the height or presence of a load.
  • these types of sensors have the disadvantage of assuming that the load is of a fixed weight and/or density. This can result in inaccurate load estimations and, therefore, improper speed control.
  • the present invention provides for a material handling vehicle that includes a material handling vehicle control system comprising a plurality of sensors, the plurality of sensors coupled to a material handling vehicle.
  • the control system further comprising a data collection system and a processor.
  • the processor executing a real time weight calculation program, the weight calculation program comprising the steps of receiving data from the plurality of sensors; and combining the data from the plurality of sensors to continuously determine a real time weight value of a load of the material handling vehicle; the processor controlling a speed of the material handling vehicle based on at least the real time weight value.
  • At least one of the plurality of sensors is a height sensor.
  • the height sensor is a linear potentiometer.
  • At least one of the plurality of sensors is a pressure sensor for measuring a hydraulic pressure of the material handling vehicle.
  • the processor is a field programmable gate array.
  • a data collection device can be included, the data collection device receiving operational data from the processor.
  • the data collection device communicates with the processor via a wireless connection.
  • the wireless connection is a Wi-Fi connection.
  • the processor identifies operational patterns based on the data from the plurality of sensors, the operational patterns providing data relating to at least one operational condition of the material handling vehicle.
  • the at least one operational condition is at least one of operator data, material handling vehicle operation data, loss of load data, battery sizing data, and maintenance data.
  • the material handling vehicle is a pallet truck.
  • the plurality of sensors includes at least one height sensor and at least one pressure sensor; and combining the data from the plurality of sensors includes combining height sensor data from the at least one height sensor with pressure sensor data from the at least one pressure sensor.
  • methods for speed control of a material handling vehicle.
  • the methods comprise receiving data at a processor from a plurality of sensors coupled to the material handling vehicle; using the processor, combining the data from the plurality of sensors to continuously determine a real time weight value of a load of the material handling vehicle; and controlling a speed of the material handling vehicle based on at least the real time weight value.
  • the method can further include identifying operational patterns based on the data from the plurality of sensors, the operational patterns providing data relating to at least one operational condition of the material handling vehicle.
  • the at least one operational condition is at least one of operator data, material handling vehicle operation data, loss of load data, battery sizing data, and maintenance data.
  • the plurality of sensors includes at least one height sensor and at least one pressure sensor; and combining the data from the plurality of sensors includes combining height sensor data from the at least one height sensor with pressure sensor data from the at least one pressure sensor.
  • combining the data from the plurality of sensors includes continuously determine a real time weight value of a load of the material handling vehicle and continuously determining a real time height value of the load of the material handling vehicle; and controlling a speed of the material handling vehicle based on at least the real time weight value and the real time height value.
  • the method can further include using a closed loop speed control for controlling the speed of the material handling vehicle based on at least the real time weight value.
  • material handling vehicles are designed in a variety of configurations to perform a variety of tasks. It will be apparent to those of skill in the art that the present invention is not limited to material handling vehicles of a particular type or purpose, and can also be provided in various other types of material handling vehicle configurations, including, for example, pallet trucks, reach vehicles, order pickers, narrow-aisle turret trucks, and any other material handling vehicle.
  • the control system 100 can have a plurality of sensors.
  • the control system 100 can have a height sensor 102 and a pressure sensor 104.
  • the height sensor 102 can be a linear potentiometer.
  • the height sensor 102 can be an ultrasonic sensor, an optical sensor, a light sensor, an angle sensor, a linear proximity sensor, or other applicable sensors for determining height or distance.
  • the height sensor 102 can be an analog sensor that outputs an analog value. Alternatively, the height sensor can output a digital signal.
  • the height sensor 102 can be used to determine the height of the forks in a pallet truck. Additionally, the height sensor 102 can be used to determine the height of the load being transported.
  • the pressure sensor 104 can be used to determine a pressure of the hydraulic system associated with supporting a load.
  • the pressure sensors can be installed into a hydraulic cylinder to determine the pressure of the hydraulic fluid within the sensor.
  • pressure sensors 104 such as strain gauges or angular sensors can be used.
  • the pressure sensors 104 can be replaced with a lift pump motor torque sensor, or a tachometer in combination with voltage and current sensors to determine a torque (work) required to lift a given load.
  • the pressure sensor 104 can provide an analog output, such as a 4-20mA signal.
  • the pressure system can include an analog to digital converter to allow for a digital value to be output.
  • Pressure sensors 104 and height sensors 102 can be more cost effective than typical weight or strain gauges. Further, height sensors 102 and pressure sensors 104 can be robust and less susceptible to mechanical contact associated with material handling vehicles. Further, while not shown, additional sensors could also be installed, such as inertia sensors, positional sensors, piezoelectric sensors, etc.
  • Data from the plurality of sensors can then be provided to a processor 106 of the control system 100.
  • the processor 106 can be a stand alone processor, or can be integrated with a material handling vehicle controller.
  • the processor 106 can be an FPGA.
  • the processor 106 can be an ARM processor, an ASIC, an Intel ® based processor, or other processor capable of executing the required software and performing the required functions.
  • the processor 106 can receive data relating to operations of the material handling vehicle, as well as the state of the material handling vehicle.
  • operational data of the material handling vehicle can include lifting, lowering, travel, angle of the load, direction of travel (forward/reverse), etc.
  • State data can include battery power remaining, hours of operation, fluid levels, etc.
  • the processor 106 can include software 108 to fuse the data from the plurality of sensors, along with operational and state data of the material handling vehicle to calculate a constant weight of the load.
  • the software 108 can be stored in a memory coupled to the processor.
  • the software 108 can use the operational and state data, in combination with the data from the height sensor 102 and pressure sensor 104 to calculate a weight of a load.
  • the software 108 can continually calculate the weight of the load to provide real-time weight data.
  • the weight measurement calculated by the software 108 can be averaged to provide a consistent reading. Averaging the calculated weight can provide consistent readings when operating in non-standard conditions, such as when traveling over uneven surfaces.
  • a real time calculated weight of the load can be determined whether the material handing vehicle is stopped or moving, while taking the non-linearity of the lift system into account.
  • Fusing the data from the plurality of sensors, or "data fusion,” as described above can allow for the fused data to have less uncertainty than if the data from the plurality of sensors were used individually.
  • the processor 106 can perform the data fusion.
  • the software 108 can fuse the data from the plurality of sensors together when calculating the weight of the load.
  • the processor 106 can begin data collection.
  • the processor 106 can provide the real time weight data to a data collection system 110.
  • the processor 106 can provide the operational and state data of the material handling vehicle to the data collection system 110.
  • the data collection system 110 can be located on the material handling vehicle. Alternatively, the data collection system 110 can be located remotely from the material handling vehicle. Where the data collection system 110 is located remotely from the material handling vehicle, the processor 106 can transmit data wirelessly to the data collection system 110. In one embodiment, the processor 106 can transmit the data wirelessly using Wi-Fi communication. In one embodiment, the data collection system 110 can store the data for later analysis.
  • the data collection system 110 can process the received data to determine operational parameters, such as labor efficiency, machine utilization, work done, operator efficiency, warehouse efficiency, predictive maintenance, warehouse floor conditions, etc.
  • the data collection system 110 can process the received data using the processor 106.
  • the processor 106 can also identify patterns within the sensor feedback. These patterns can be based on the calculated weight provided by software 108. Additionally, the patterns can also be based on the received operational and state data of the material handling vehicle. Identification of patterns in the sensory feedback can allow for the processor to detect and evaluate problems with the material handling vehicle.
  • the processor 106 can use the identified patterns to determine operator behavior at module 112.
  • Operator behavior data can include operator efficiency, operator up-time, operator driving habits including speed, translational movements (i. e. up and down), etc. This operator behavioral data can be used to provide feedback to an operator. Further, it can provide management with an overview of operator operational statistics for evaluation. For example, weight moved per time period, average weight moved, etc. Additionally, job coding and operator identification can be used to provide more detailed statistics. In one embodiment, operator identification can be determine based on the operator identification badge, which can be required to be read prior to operation of the material handling vehicle.
  • the processor can use the identified patterns to detect material handling vehicle operation at module 114.
  • Material handling vehicle operation can include overloading (i.e . transporting loads above the rating of the material handling vehicle), excessive speeds, or any other operation that could impact the operation or condition of the material handling vehicle.
  • the processor 106 can also use the identified patterns to determine if there has been a loss of load at module 116. By fusing data from a plurality of sensors and taking an average of the real time calculated data, the control system 100 can better determine when there has been an actual load loss situation. For example, using the averaged weight data allows for transient variations in the calculated weight to be accounted for. For example, rough terrain or quick operator movements can sometimes result in data that indicates a load loss condition. By relying on identified patterns and averaged real time data, these transient variations can be accounted for and factored into the load loss determination.
  • the identified patterns can be used to determine if the battery of the material handling vehicle is improperly sized at module 118.
  • the processor 106 can determine patterns of battery changes in combination with other factors, such as the weight of the loads, average speed of the material handling vehicle, etc., to determine if the battery is correctly sized for that particular vehicle/application.
  • the identified patterns can also be used to determine weight moved over time at module 120.
  • the identified patterns can be used to detect possible maintenance for the material handling vehicle at module 122. For example, operational times, limited maximum speeds, load imbalance, etc., can all indicate possible maintenance for the material handling vehicle.
  • the processor 106 can also use the identified patterns, as well as the real time calculated weight of the load to control the speed of the material handling vehicle at process block 124.
  • the processor 106 can utilize closed loop control to constantly control the speed of the material handling vehicle. For example, where the calculated weight is known, the speed of the material handling vehicle may be reduced where heavy loads are present. Further, where the load is both heavy and elevated, such as by raising the forks of a pallet truck, the speed may be further reduced to ensure stability of the material handling vehicle.
  • the real time calculated weight can indicate a state of the floor conditions, such as an uneven surface. This information can be used to limit the top speed to ensure normal operation of the material handling vehicle, as well as to reduce potential wear and tear on components, thereby increasing the operational life of the material handling vehicle and its associated components.
  • the real time calculated weight allows for real time response by the speed control module 124. Further, closed loop control is possible as the real time calculated weight can constantly update the speed control module 124 based on constantly changing loads and/or conditions. Additionally, the data fusion performed by the processor allows for reduced uncertainty in the measurements, allowing for accurate, reliable, and efficient speed control determinations to be made by the speed control module 124. Additionally, closed loop speed control can improve productivity of load picking by allowing the material handling vehicle to be operated at higher speeds. Accurate, real time weight can allow higher top speeds while still controlling required stopping distances.
  • FIG. 2 shows an exemplary material handling vehicle linkage 200 typically associated with fork operation.
  • the height sensor 102 can be positioned on or between a linkage 202 and/or a fork 204 to determine a height value of fork 204.
  • the height sensor can be positioned on or between a linkage 206 and a fork 208.
  • height sensors 102 can be positioned between both linkage 202 and fork 204, and linkage 206 and fork 208 to provide a height value for each individual fork 206, 208.
  • the height sensor 102 can be positioned on or between upper linkage 210 and linkage 202 to provide a height value of fork 204.
  • the height sensor can alternatively be positioned on or between upper linkage 212 and linkage 204 to provide a height value of fork 208.
  • height sensors 102 can be positioned on or between upper linkage 210 and linkage 202, and upper linkage 212 and linkage 206 to determine a height of forks 204 and 208.
  • Load wheel carriers 214 and 216 are also shown, and can also include a height sensor 102.
  • a pressure sensor 104 can be positioned in any of the locations identified above to measure a pressure associated with a weight on the forks.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Physics & Mathematics (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Civil Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)
EP16174889.2A 2015-06-19 2016-06-17 Systeme und verfahren zur gewichtsermittlung und rückkopplungs-drehzahlregelung Withdrawn EP3106423A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US201562182338P 2015-06-19 2015-06-19

Publications (1)

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EP3106423A1 true EP3106423A1 (de) 2016-12-21

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EP16174889.2A Withdrawn EP3106423A1 (de) 2015-06-19 2016-06-17 Systeme und verfahren zur gewichtsermittlung und rückkopplungs-drehzahlregelung

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Country Link
US (1) US20160368493A1 (de)
EP (1) EP3106423A1 (de)
CN (1) CN106347366A (de)
AU (2) AU2016204064A1 (de)
CA (1) CA2933428A1 (de)

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WO2020247339A1 (en) * 2019-06-07 2020-12-10 Warner Electric Technology Llc Control system for a mobile lift device

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JP6737202B2 (ja) * 2017-02-16 2020-08-05 株式会社島津製作所 フォークリフト
CN107499356A (zh) * 2017-08-14 2017-12-22 徐州市海涛制冷设备有限公司 一种农产品冷库用推车
US11241958B2 (en) * 2018-02-16 2022-02-08 The Toro Company Electronic speed control system
US10821947B2 (en) 2018-10-03 2020-11-03 Ford Global Technologies, Llc Driving adjustment for vehicle loading
CN110658824A (zh) * 2019-10-15 2020-01-07 北京旷视机器人技术有限公司 运输车的运动控制方法、装置、控制器和运输车
US11969882B2 (en) 2019-11-21 2024-04-30 The Raymond Corporation Material handling vehicle behavior modification based on task classification
US11511743B2 (en) 2019-12-17 2022-11-29 Cnh Industrial Canada, Ltd. System and method for controlling the speed of a work vehicle towing an implement
US11827232B2 (en) * 2021-01-22 2023-11-28 Continental Automotive Systems, Inc. High accuracy vehicle load management
US20230128284A1 (en) * 2021-10-22 2023-04-27 Harbinger Motors Inc. Methods and systems for estimating the current weight of commercial vehicles
US11952247B1 (en) * 2021-12-06 2024-04-09 Amazon Technologies, Inc. Control system for an electric pallet jack

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CA2933428A1 (en) 2016-12-19
CN106347366A (zh) 2017-01-25

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